Line a large strainer with a cheese cloth. Place over a large mixing bowl. Place yogurt into strainer. Cover strainer with plastic wrap and refrigerate 12 hours or overnight.
Place peaches in a food processor. Pulse until peaches are barely pureed and a few small chunks remain, about 30 seconds to 1 minute.
Transfer peaches to a medium saucepan. Add sugar and stir well. Cook over medium-low heat for 5-7 minutes until sugar is dissolved, stirring occasionally. Remove from heat. Add cinnamon and stir well. Allow to cool for 30 minutes.
Remove yogurt from cheese cloth, discarding whey liquid from bottom of bowl. Transfer yogurt to a large mixing bowl. Add cooled peach mixture and mix well with a whisk or large spoon until thoroughly combined.
Transfer yogurt mixture to ice cream maker and churn for 25 minutes or according to manufacturer’s instructions. Transfer to a 2-quart container and freeze for at least 2 hours. Frozen yogurt may be stored in the freezer for up to 1 month.
15 minutes prior to serving, combine raspberries, sugar and lemon juice in a small microwave safe bowl. Microwave until warm and bubbly about 2-3 minutes. Stir well until raspberries fall apart. Allow to cool slightly, about 10-15 minutes or refrigerate for up to 3 days.
Scoop 1-cup servings of frozen yogurt into ice cream dishes top each dish with 1/4 cup raspberry sauce.
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